Firearm aiming system with range finder, and method of acquiring a target

ABSTRACT

An aiming system of an aimable device includes a user display, an imaging system, user controls, a tracker, and a range finder such as a LRF. The imaging system displays, on the user display, an indicator of the direction in which the device points. The user uses the user controls to lock on a target towards which the device points according to the indicator. Then the tracker tracks the target, and the range finder measures the range to the tracked target. The tracker aims the range finder at the target, or alternatively scans the target and its background, one-dimensionally or two-dimensionally.

FIELD OF THE INVENTION

The present invention relates to firearms, in particular an aimingsystem therefor.

BACKGROUND OF THE INVENTION

Firearms have a low effectiveness for a number of reasons, even in thecase where a high quality firearm is used. Some of the problems includemovement (shaking) by the user (the main issue); movement of the target(e.g. a live target such as a combatant or criminal); relativeaiming—such as the range to the target and inclination angle(ballistics), dynamic issues of the firearm (e.g. heating up of thebarrel during use); atmospheric/ambient conditions (e.g. wind, fog,elevation, etc); and visualization of the target (i.e. the target may betemporarily hidden and not in a line of sight position for aiming). Onthe police force, it is common that most firing results in a miss; andin combat, the vast majority of firing results in a miss. Furthermore,there are also frequent issues with friendly soldiers being killed orwounded by so called “friendly fire”.

At least some of the aforementioned issues are addressed in US2006/005,447 “Processor aided firing of small arms” (Lenner et al); EP0,605,290 “Optronic shooting aid device for hand weapon and itsapplication to progress in a hostile environment” (Fertala); and U.S.Pat. No. 5,822,713 “Guided fire control system” (Profeta).

US 2006/005,447 discloses a weapon comprising: a firearm having a barreland a user interface; a barrel oscillator for oscillating the barrel ina predetermined pattern; an image capture device mounted on the firearmfor capturing a plurality of image (video) frames of a target andgenerating image data in response thereto; at least one barrel motionsensor mounted on the firearm for sensing a motion of the barrel andgenerating motion data in response thereto; and a processor coupled to:the user interface, the image capture device and the at least one barrelmotion sensor. The processor enables a user to select a target byfreezing one of the video frames, selecting the target, thereby causingthe image capture device to capture the plurality of images and generatethe image data which is used along with the motion data to determine apredicted target location and coverage point where the barrel covers thetarget upon which the processor may energize the firearm to fire aprojectile. The firearm requires at least one barrel motion sensor inthe case of non-static targets.

EP 0,605,290 relates to the field of aids for shooting a hand weapon,and is based on a wide field/narrow field coupling for targetrecognition and marking, combined with automatic target tracking andconditional triggering of shooting. The helmet of an infantryman isequipped with a wide-field sensor, the output signal from which isapplied to a monitor integrated into the helmet. The weapon of theinfantryman is equipped with an optical system with a narrow-fieldsensor coupled to a tracker and multiple control means. The multiplecontrol means controls a video change-over switch that applies theimagery signal originating either from the wide-field sensor or from thenarrow-field sensor to the monitor), the tracker for acquiring a targetand a comparator for triggering firing means when the coordinates of thetarget, calculated by an angular deviation measurement device are equalto those of a predetermined reference.

U.S. Pat. No. 5,822,713 discloses a fire control system comprising amanually aimed gun having a sighting device and a device for acquiring atarget. The target acquiring device (e.g. infrared imaging device orFLIR device) is disposed at a location remote from the gun. The firecontrol system also comprises a device for determining the trajectory ofthe target with respect to the gun and providing information relating tothe target to the sighting device of the gun such that an operator ofthe gun can aim the gun with respect to the sighting device to hit thetarget when the gun is fired. The determining device is in communicationwith the target acquiring device and the sighting device. Profeta alsodiscloses a fire control method for a minor caliber gun comprising thesteps of acquiring a target from a location which is remote from thegun; determining the trajectory of the target with respect to the gun;providing information relating to the target to a sighting device of thegun; and manually aiming the gun in accordance with the informationappearing on the sighting device such that the gun is aimed toaccurately hit the target when fired. However, the remote targetingdevice makes verification of possible line of sight firing questionable.

Other related publications include: US 2006/201,047 “Rifle scope withimage stabilization” (Lowrey); U.S. Pat. No. 7,421,816 “Weapon sight”(Conescu); U.S. Pat. No. 7,089,845 “Aiming a weapon barrel” (Firedli);WO 98/051,987 “Video sighting unit for rifles” (Becker); US 2008/039962“Firearm system for data acquisition and control” (McRae); U.S. Pat. No.3,659,494 “Fire control system for use in conjunction with electronicimage motion stabilization systems” (Philbrick et al); and U.S. Pat. No.5,392,688 “Trigger for a firing weapon” (Boutet et al).

SUMMARY OF THE INVENTION

The present invention relates to a firearm comprising an aiming systemfor improved firing efficiency or effectiveness and method of operatingsame. The firearm is typically hand-held or at least man-aimed.

In accordance with embodiments of one aspect of the present inventionthere is provided a firearm aiming system.

In the specification and claims, the term “firearm” will be understoodto mean a personal, man-aimed or hand-held firearm designed for aimingand firing by a single user, including pistols; rifles; machine guns;grenade launchers; hand-held rocket, and the like, includingcombinations thereof, for example an M-16 and M-203 combination.

The aiming system can be implemented as a retro-fit to an existingfirearm, or “built-in” to a new firearm.

In accordance with embodiments of another aspect of the presentinvention there is provided a personal firearm comprising theabove-defined aiming system.

In accordance with embodiments of yet another aspect of the presentinvention there is provided a method of operating a firearm as definedin claim 27 and claims depending therefrom.

In accordance with embodiments of yet another aspect of the presentinvention there is provided a method of reducing the probability ofmissing a target as defined in claim 33 and claims depending therefrom.

In some embodiments, the firearm can be disposed on top of a platform,implemented as a remote-controlled-non-stabilized firearm, robot or UAVwhich locks on a target from remote location via a video and a robotfires if target will be hit.

In some embodiments, the imaging and processing system can beimplemented in a hand-held Laser Range Finder (LRF) for accuratemeasurement of the range of a target, which can be implemented inbinoculars with LRF also for target acquisition—and not necessarily in aweapon. For example, the LRF will measure distance (target range) whencross hairs of the binoculars are on the locked target, thus allowing anaccurate range to be measured. In some embodiments, this targetmeasurement implementation further comprises a GPS, a digital compassand an inclinometer for dynamic target location extraction, which inaddition to having the capability of measuring the range of a statictarget, can track a moving target and continually update thecoordinates.

In some embodiments, the firing processor is adapted so that the epsilontolerance or logic module uses predetermined settings, whereas in otherembodiments the epsilon tolerance or logic module uses factors, i.e. theprecision tolerance is dynamic, affected by factors in the field(discussed below) which affect the epsilon algorithms.

In regard to background movement, it is a particular feature of thepresent invention that the imaging system is adapted to determine themovement of a potential target based on movement relative to one or morestatic background features (e.g. objects or structures, such as abuilding, rock, tree or the like) in an imaged field. In such case, thefirearm need not include a barrel motion sensor, and the one or morestatic features (“anchor” features) can be used to determine movementand angular velocity of the target, which, provides “lead” data for useby the processor's firing algorithm. Further, the static backgroundfeatures can be used for determining the barrel movement. A non-limitinglist of exemplary barrel motion sensors include: gyroscope and compassbased sensors, inclinometers and accelerometers. In some embodiments,the imaging system is adapted to determine the movement of a potentialtarget based on movement relative to one or more dynamic backgroundfeatures.

According to related features, the imaging system is also adapted todetermine the movement of a potential target while the user is moving.In such case, the static background object(s) seem to move, andtypically at different velocities and/or directions in the field of viewand background tracking is challenging. The imaging system can beadapted to include a feature termed “optic flow” analysis, which iscapable of calculating the velocity of a dynamic target that is not partof the optic flow pattern, and relates to the situation wheretargets/objects at different ranges seems to move in differentvelocities and/or directions.

Another feature for calculating the movement/velocity of target(s)and/or self-movement that can be incorporated into the imaging system isa feature termed “multiple triangulations”, which is often used in navalnavigation.

Some embodiments include an image-based processing target rangeestimation function, which may be in default settings in the imaging andprocessor system. Along with other factors such as target movement andbarrel movement, range estimation is one of the more important inputs tothe epsilon logic module, as well as an important input to the firingcomputer and target lead calculations. One range estimation scenarioinvolves using familiar or expected target size as a function of range.In other words, the larger the target (i.e. the greater the number ofpixels present in the display), the shorter the range, and vice versa.This scenario can be advantageously combined with target recognition.For example, if the target is identified, it can be compared to theexpected size of such a target. Thus, say the target is determined to bea human or tank, based on ATR (automatic target recognition), the targetimage size (i.e. number of pixels present in the display) can becompared to the known size of a typical human or tank in order toestimate the range. A further range estimation method usable in theinstant aiming method is perspective analysis and/or focus.

Face detection/face recognition: In some embodiments, the targetrecognition is constituted by face detection—a method of detecting humantargets. It may also be used to locate the human target's body, as thebody is commonly located below the detected face. Face recognition canbe used in specific situations, as follows:

(a) Automatically re-acquiring a target (e.g. a target that went out ofthe FOV and re-entered; a target that crossed another target; or atarget that was behind a cover such as re-appearing in a window;

(b) Absolute identification—friend and foe identification such as in ahostages/kidnapper scenario (e.g. using pre-loaded facial images to markas “friend” or “foe” in the specific scenario, and/or specifying aperson in the scenario, such as “the leader”; and

(c) Enabling sending an image of the detected person to others,including other users in the field and/or acommander/headquarters—typically including receiving information backabout the person and/or a command.

Another range estimation scenario uses the target speed, as the morequickly the target moves across the display, the more likely the targetis to be close, and vice versa. Again, this scenario can beadvantageously combined with target recognition. For example, if thetarget is identified, the actual movement/velocity of the target can becompared to the known typical range of velocity of such target.

Another range estimation scenario uses relative location of thetarget—i.e. the imaging sensor determines the target location withrespect to a background feature (whose distance the processor candetermine by any LRF process or estimation of known object size), inother words if the target is in front (or in front of an imaginaryhorizontal line in the field), behind, above, or below a backgroundfeature (which need not be static) having a known or estimated range.

In some embodiments, a range measurement is performed using an LRF,automatically initiated at the moment of locking onto the target.However, sometimes a shooter does not want to use an LRF to avoid thepossibility of revealing his position. For such purpose, in someembodiments, the firearm uses one of: (1) a predetermined range (set bythe user or by a system default); (2) an image processing based rangeestimate (passive, as described herein); (3) an auto-LRF measurement,only after a shot is fired (at which point, the shooter's position isrevealed in any event); or (4) a manual laser command, i.e. a laser beamwill be emitted only after the aiming system determines the correct timeto activate the laser beam.

It is a particular feature of some embodiments of the invention that thefirearm is adapted to highlight and track multiple targetssimultaneously, thereby facilitating firing at a plurality of targetswithout requiring locking on to each target between firing rounds. Insome embodiments, the user can lock on an object/potential target evenif the imaging system has not provided a highlighting.

Advantages of the present invention include that it: enables accuratefiring under various conditions (e.g. even at long range; or afterphysical effort by the user such as heavy breathing; or while the useris moving, such as on the run or from a land vehicle or helicopter;while the target is moving); minimizes civilian and friendly forcescasualties; reduces collateral damage; improves the safety andeffectiveness of combat and training; can help firing at specific bodyparts (e.g. lethal or non-lethal firing); can help firing at specificparts (e.g. the wheel of a vehicle); can document a shooting episode todetermine if the firing was proper; helps training or operationdebriefing; and saves ammunition. Furthermore, the present invention canaccomplish the aforementioned advantages without the need for barrelmotion sensors.

Additionally, according to the present invention there is provided anaiming system, for an aimable device, including: (a) a user display; (b)an imaging system that is adapted to display, on the user display, anindicator of a direction in which the device is pointing; (c) usercontrols for locking on a target towards which the device is pointingaccording to the indicator; (d) a tracker for tracking the targetsubsequent to the locking on the target by said user controls; and (e) arange finder for measuring a range to the target as the target istracked by the tracker.

There also is provided, according to the present invention, a method ofacquiring a target, including the steps of: (a) aiming an aimable devicethat includes: (i) a user display, (ii) a tracker, and (iii) a rangefinder, so that an indicator, in the user display, that indicates adirection in which the device is pointing, is superposed on the target;(b) locking the tracker on the target; (c) using the tracker to aim therange finder at the target; and (d) measuring a range to the target,using the range finder.

Another aiming system of the present invention is not just for afirearm, but for any aimable device, i.e., any hand-held ortripod-mounted device, such as a camera or binoculars, that is intendedto be aimed at a target. A basic such aiming system includes a userdisplay, an imaging system, user controls, a tracker and a range finder.The imaging system is adapted to display, on the user display, anindicator of a direction in which the device is pointing. The usercontrols are for locking on a target towards which the device ispointing according to the indicator. Following the locking on the targetby the user controls, the tracker tracks the target. The range finder,which may include e.g. a LRF or a source of structured light, measures arange to the target as the target is tracked by the tracker.

In one LRF-based embodiment, the LRF includes a laser, a mirror that iscontrolled by the tracker so as to reflect light (typically light pulsesbecause the LRF measures range by measuring time-of-flight of pulses toand from the target) from the laser toward the target, and a receiver ofthe light as reflected from the target. In another LRF-based embodiment,the LRF includes a laser, a receiver, and a gimbal that is controlled bythe tracker so as to point the laser and the receiver towards the targetso that light from the laser that is reflected from the target isreceived by the receiver.

In the LRF-based embodiments, the tracker could be operative to just aimthe range finder at the target (e.g. as in FIG. 11A below), or to scanthe target with the LRF to measure both the range to the target and therange to the background of the target. FIG. 11B below illustrates anexample of a one-dimensional scan. FIG. 11C below illustrates an exampleof a two-dimensional scan.

The user controls could be adapted to allow locking on the target eitherautomatically or manually.

Preferably the user controls include a target lock-on mechanism thatincludes a trigger, a button and/or a touch screen.

Preferably, the imaging system is adapted to detect the target based ontarget features. Most preferably, the imaging system detects the targetvia edge detection. Also most preferably, the imaging system highlightsthe target on the user display. Preferred target features include targetmovement, target shape, a muzzle flash associated with the target, therange to the target, the IR signature of the target, and “changedetection” as defined below.

In an associated method of acquiring a target, an aimable device thatincludes a user display, a tracker and a range finder is aimed at thetarget so that an indicator, in the user display, that indicates thedirection in which the device is pointing, is superposed on the target.The tracker is locked on the target and is used to aim the range finderat the target. The range finder then is used to measure the range to thetarget. Preferably, geographic coordinates of the target are computedbased on the measured range, and are transmitted to a remote location.

BRIEF DESCRIPTION OF THE DRAWINGS

The present invention will be understood and appreciated more fully fromthe following detailed description taken in conjunction with theappended drawings in which:

FIG. 1 is a schematic depicting an aiming system in accordance with someembodiments of the present invention;

FIG. 2 is a diagrammatical depiction illustrating embodiments of animaging processor of the present aiming system;

FIG. 3 is a schematic exemplary Field of View (FOV) of the presentimaging system;

FIG. 4 is a view of an exemplary aiming aid for the present aimingsystem;

FIG. 5 is a schematic of an exemplary target illustrating firingtolerance in accordance with embodiments of the present aiming system;

FIG. 6 is a schematic illustrating exemplary target aim-point detectionmodes of the present aiming system;

FIG. 7 is a schematic depicting an embodiment of the present aimingsystem for use in an alternate implementation;

FIG. 8 is a schematic illustrating an embodiment of the present aimingsystem adapted for affecting a deliberate calculated bullet spread;

FIG. 9 illustrates the general concept of using a tracker to aim a rangefinder at a target;

FIGS. 10A-10C illustrate three different embodiments of a range finderthat is so aimed;

FIG. 11A illustrates the aiming of a range finder at a designated pointon a target;

FIG. 11B illustrates one-dimensional scanning of a target;

FIG. 11C illustrates two-dimensional scanning of a target.

The following detailed description of embodiments of the inventionrefers to the accompanying drawings referred to above. Dimensions ofcomponents and features shown in the figures are chosen for convenienceor clarity of presentation and are not necessarily shown to scale.Wherever possible, the same reference numbers will be used throughoutthe drawings and the following description to refer to the same and likeparts.

DESCRIPTION OF EMBODIMENTS OF THE INVENTION

Illustrative embodiments of the invention are described below. In theinterest of clarity, not all features/components of an actualimplementation are necessarily described.

FIG. 1 shows an embodiment of a firearm 10 in schematic depictioncomprising a firearm aiming system 11, the system adapted to allow theuser to lock onto a target, or a plurality of targets and only allowfiring if the aiming system determines the target will be hit. For suchpurpose the aiming system 11 comprises an imaging system 12; a userdisplay 14; user controls 16, for locking/unlocking onto the target ortargets; a firing processor 18 (described in more detail with respect toFIG. 2); and a firing actuator 20 to effect firing. Firing actuator 20can be mechanical, electrical or electro-mechanical and enables ordisables firing when the firearm's trigger is pressed or electronicfiring means are used. However, typically aiming system 11 will includean override capability to allow “unhindered” (regular) firing. In thisregard, according to some embodiments, the firearm's aiming system canbe adapted to work as a “regular” firearm, able to shoot mechanically,for example if the aiming system's batteries are too weak or there is amalfunction.

By-pass mode: In an embodiment related to the aforementioned overridecapability, aiming system 11 can include a bypass type override. Inother words, wherein conditional firing is a mode selectable by theuser. This mode or feature can be by actuated by applying more triggerforce, by trigger press speed (rapid trigger press rather than ahalf-press and then full press) or by range (firing will be enabled inany event toward short-range targets, whether locked on or not.

Imaging system 12 includes an image sensor or camera 22 and an imageprocessor 24. Camera 22 can be a day/night video camera, for example acharge-coupled device (CCD) or CMOS; forward looking infra-red sensor(FUR); multispectral or hyper-spectral camera, or any other sensor thatenables tracking of a target location in their field of view (FOV)including combinations thereof. In this regard, imaging system 12 may“fuse” data from more than one sensor into one or more representationsor use the different inputs in parallel.

User display 14 typically includes an image display for displaying videoof a field view, cross hairs, virtual images (e.g. night display, IRimage) and other features of aiming system 11 that will be discussed inmore detail herein, such as aiming guides (FIG. 4), a toleranceindicator, and markers/highlighting. However in some embodiments, userdisplay 14 can have an audio input/output and/or touch screen typecapability, and the like. In some embodiments, user display 14 onlydisplays markers on top of see-through optics.

User controls 16 typically include a lock/unlock mechanism to lock on,or unlock aiming system 11 from a target. The lock/unlock mechanism canbe activated, for example, by a partial depress of the trigger, whichoptionally may require a trigger-depress dwell time—e.g., a fast pressallows regular shooting and a half press followed by a full press willactuate aiming system 11. User controls 16 also typically include a lockupdate mechanism to update (adjust) the lock on position (location inthe target area that aiming system 11 is locked onto). These mechanismscan be by way of any appropriate means, for example, a 4-way button,5-way button, etc, or miniature joystick, as is known. User controls 16can optionally have capability for inputting information such as targetrange, wind speed/direction, and other such data. However, inputs suchas wind speed and target range, etc, can be estimated or measured byaiming system 11. As will be further detailed herein, the use ofspecific techniques for estimating target range is a particular featureof the firearm 10 and aiming system 11.

Although it is a particular feature of some embodiments of the firearm'saiming system 11 that it need not include barrel motion sensors, ratherthe system can use background features to calculate/predict both themovement of the target and of the barrel of the firearm 10 (as will bedescribed in more detail below), the aiming system can none-the-lessinclude barrel motion sensors 32 to help calculate and predict theposition of the barrel and movement of the user, e.g. shaking whileaiming. In particular, it is the use of background features in the FOVthat facilitate barrel movement calculations and predictions inembodiments that do not include barrel motion sensors 32. To emphasizethis, the barrel motion sensor(s) block is shown in dashed lines, as isthe block for additional sensors 34.

Further, in some embodiments aiming system 11 can include additionalsensors 34, such as the following components: microphone; inclinometer;

accelerometer/inertial sensor; compass; GPS, Laser Range Finder (LRF),temperature measurement device (e.g. thermometer, thermocouple);barometer; wind-meter; and other like. Such components can be added toaiming system 11 to improve the accuracy and compensate forenvironmental factors that affect firing accuracy; to provideintelligence, e.g. a geospatial information system (GIS) and GIS database, which may include capability for determining user location anduser location with respect to friendly and unfriendly forces; and forevent recording purposes.

Firing processor 18 of aiming system 11 comprises a firing computer 26;in preferred embodiments, an epsilon logic module 28; and a firingdecision module 30. A firing computer is a typical component onsophisticated aiming systems and performs activities such as calculatingthe adjusted aim-point to the required range, wind, inclining angle etc;and typically uses ballistics tables and/or equations of the specificfirearm and rounds. Firing decision module 30 is responsible for takinginput from other systems/modules/processors and predicting whether thetarget can be hit. In preferred embodiments, this prediction, or moreprecisely the actual hit, is aided by use of a target area, called an“epsilon tolerance area” (or derivations of this term), as is discussedin more detail herein.

FIG. 2 provides the structure of an exemplary image processor 24including an image enhancement module 36; background tracking module 38;barrel movement calculation module 39 (it should be noted that it is aparticular feature of the present invention that barrel movement can bedetermined via background features without the need for a barrelmovement or barrel motion sensors); target detection/identificationmodule 40; target tracker (tracking processor) 42; and range estimator44. Regardless, in some embodiments, image processor 24 does not includeone or more of: background tracking module 38; barrel movementcalculation module 39; and range estimator 44, as these components arenot absolutely required in most scenarios. Image enhancement module 36is responsible for enhancing the raw image by any known means such as bygain control and/or super-resolution techniques.

According to some embodiments, image processor 24 may automaticallydetect features in the FOV (which may be one or more potential targets)based on predetermined/automatic settings (e.g. if a potential target ismoving; looks like a human or a tank, etc), in which case the imageprocessor highlights the target (e.g. by contour/outline or color) basedon edge differential between the potential target and itssurrounding/background or other means. The user can then choose thedetected potential target by selecting the target (by pointing at andlocking on the potential target or its “area” (such as a target lockablearea 56, as will be explained in more detail with reference to FIG. 5).This area is usually bigger than the actual target boundaries—making thetarget “bigger” and easier to select. Or the user can continue to scanthe field provided by image sensor 22. In some embodiments, the targetor its target area can be selected if the barrel is at least pointednear to the target/target area; and typically after that the lock-onwill be “snapped” to the center of the target or other suchpre-determined location. Selecting the target area can be considered“locking” onto a point on (location within or nearby) the target onwhich firearm 10 is directed at that moment. In some preferredembodiments, there is a target lock-on option whereby the locked-onpoint is moved to a central location in the highlighted target image; orthe locked-on point can be moved to another location by the user (i.e.the locked-on point can be updated). In some embodiments, the systemincludes ATR whereby the target is recognized and the locked-on point ismoved to a chosen or predetermined location of the target (e.g. thewheel of a vehicle; legs of a combatant; and so on). In someembodiments, the system is adapted to allow parts of the target to beselected by the user. In some options of this embodiment, an ATR featureof imaging system 12 can suggest target parts to the user.

With reference to FIG. 3 as well, background tracking module 38 canidentify a single, or more preferably a group of, static backgroundfeatures 46 in the FOV, for example a house, building and tree asillustrated. These static features 46 identified by background trackingmodule 38 enable a series of particularly important calculations foraiming system 11. First of all, using static features 46, backgroundtracking module 38 can determine the relative movement of a target or alocked-on target 48, whereby the velocity of target 48 can becalculated—importantly, without the need for barrel motion sensor(s) 32.In addition, also using static features 46, barrel movement iscalculated via barrel movement calculation module 39—both angular andtranslational movement. In some embodiments, as a part of theaforementioned calculations, background tracking module 38 can performFOV background stabilization. It is another important feature of thepresent invention that the target lead can be calculated without theneed for any barrel motion sensor(s), rather using static backgroundfeatures 46 determined by background tracking module 38. Backgroundtracking module 38 provides the position of static background features46 to barrel movement calculation module 39 so that the movement (andaiming; i.e. direction), of the barrel can be calculated, andextrapolated, with respect to the position of locked-on target 48, bycomparison to those static features. The position of locked-on target 48is also extrapolated, i.e. the lead is calculated, as discussed herein.Again, if the aiming system 11 includes barrel motion sensor(s) 32,background tracking module 38 can use information from the barrel motionsensor(s) to calculate barrel position/aiming.

It is also an important feature of the invention that in embodimentsthat include barrel motion sensor(s) 32, the background tracking module38 enables zeroing of “walk” (barrel motion sensors tend to drift overtime), whether the target 48 is static or dynamic. The aiming system 11can “zero” or calibrate itself with respect to the one or more staticfeatures 46, not merely with respect to target 48—there is no need toeven have a locked on target. Thus, target lead can be calculated by thecalculated target movement using static features 46 (and/or using barrelmotion sensor(s) 32, if included); in concert with range estimation,ballistics, etc, by firing computer 26.

Calibration Mode: In some embodiments, the system is adapted to allowautomatic calibration, e.g., shooting toward a calibration targetwhereby the system identifies the hit location and calibrates itselfautomatically so that the expected hit location coincides with theactual hit location; or per another option the user identifies the hitlocation and marks the hit location so the calibration can be performed.Imaging system 12 can zoom in if it is difficult for the imaging systemto see the hit location.

In other embodiments, the system is adapted for battlecalibration—shooting toward any target (at a measured/known range),freezing the image of the shooting, and marking (automatically ormanually) the hit location. The system auto-calibrates itselfaccordingly.

Reverting to FIG. 2, it is a particular feature of targetdetection/identification module 40 that the module can identify apotential target based on movement, as any movement of a feature in theFOV is a good indication of a potential target wherein theidentification of movement of the potential target is performed usingcomparison of the tracked static background features 46. Other targetdetection techniques can also be used, for example, FLIR, ATR, muzzleflash, acoustic techniques, detection by remote systems, “changedetection”, and so on.

By the term “change detection” it is meant the comparison to a recordeddatabase. For example the present imaging system 12 can be used torecord a video of an area (scan a potential battle field) for instance;or another video recorder is used and data from that video recorder isdownloaded to imaging system 12. Upon return to the same area, thedifference or change between the two scenes can provide information fordetecting potential hazards, which are highlighted in user display 14.Such change detection mode typically requires components such as a GPS,compass and inclinometer; and an image comparator.

Target detection/identification module 40 also highlights potentialtargets for user selection (locking on). This typically occurs while theuser is scanning the FOV and results in a highlighting of the potentialtarget (e.g. by a contour/outline, color, etc) using background-targetsegregation techniques such as edge detection, movement detection and soon. It is an important feature of the invention that the selection oftargets can be made from a live video by aiming firearm 10 toward thetarget area; there is no need to freeze frames and then select thetarget. Thus, a rapid target selection can be made.

In some embodiments, the highlighting can occur even if firearm 10 isnot pointing directly at a potential target, rather merely due tomovement of that potential target, which commonly indicates that thepotential target is a good choice. Imaging system 12 will detect thetarget movement and will highlight that target, and, in someembodiments, cause an automatic lock on, in accordance withpre-programming of the system or user choice. In some embodiments,aiming system 11 is adapted to indicate a hierarchy of desiredtargets—for example a close-by moving target is “ranked” higher(essentially meaning a more desired and/or dangerous target) than a faraway moving target, which is ranked higher than a static target; aparticular human/enemy higher than others; and the aiming system is thustypically adapted to provide an indication (symbol, color, flashing,etc). Accordingly, aiming system 11 has an algorithm capable ofindicating a preference for selecting (highlighting and in some casesautomatically locking on to) particular potential targets.

With regard to identification of targets using movement, in someembodiments, aiming system 11 uses movement information of potentialtargets in the FOV for target identification. For example, the speed ofa potential target can help identify it, e.g. a target moving fasterthan humans are able can indicate the entity is a motorized vehicle.Reiterating, it is a particular feature of the present invention thattarget movement, including velocity, can be determined using staticfeatures, therefore not requiring barrel motion sensor(s) 32, thus,according to some embodiments, static features can be used to helpidentify a moving target and facilitate highlighting and automatic lockon.

In some embodiments, the target tracker 42 of the image processor 24 isadapted so that after the user selects a target by locking on it, usinguser controls 16, the user can then update the lock location (e.g. usinga 4-way button, joystick or trackball). This embodiment can beconsidered a manual modification or alternative to (or used incombination with) embodiments where after the lock-on step, the firearm(i.e. imaging system 12) will automatically move the locked location tothe center of the target, or another predetermined location. The 4-waybutton may enable selecting different targets (e.g. near-by target, oneterrorist over another) or a different part/portion of the same targetsuch as the target's legs instead of torso or head.

The term “another predetermined location”, can refer to, for example, ifthe target is human, the “center of the target” may be chosen as thecenter of the chest, rather than the geometric center. It should benoted that the term “center” can be understood to mean a (typicallysmall) area or actively, selection of an area. Typically, to determineif the target is human, the imaging processor 24 will require ATR orface detection. In this regard, aiming system 11 can be adapted toinclude a data base of shapes, objects, models, people and so on inorder to make a reasonable determination of several common potentialtargets.

User controls 16 can also be adapted to allow selection of an alternatetarget, selecting a specific part of the target or affecting the size ofthe epsilon (target/tolerance) area.

Tracker 42 is typically an electro-optic tracker. Tracker 42 receivesthe image of one or more locked-on targets from image sensor 22 afterdetection by target detection/identification module 40, and tracks thetarget(s). This tracking can continue even outside the FOV of the userdisplay 14 which is still in the FOV of the image sensor; however, insome embodiments, the tracking can extrapolate the expected movement ofthe target and pick up the target again when it re-enters the FOV of theimage sensor (for example: a combatant who moves outside the FOV of theimage sensor, or temporarily moves behind a blocking object). In someembodiments, imaging system 12 is adapted to include the capability of“receiving” an otherwise unseen target identified by another firearm,for example, from the aiming system of another soldier who does see thetarget. In some embodiments, imaging system 12 is adapted to include thecapability of tracking a “ghost” image (target), for example an enemyhiding behind a wall, who is “visible” using another sensor

Whole Scene Tracking: in accordance with some embodiments, aiming system11 is adapted to identify any object's movement in the FOV and tracksome or all objects. The user may, but may not need to know about thistracking, but this tracking may be used to:

(a) Manage high level target tracking (i.e. store in memory all objectlocations and movements) for expecting and identifying target crossing,etc;

(b) Enable better detection of a (formerly) moving target that hasstopped;

(c) Change the safety level (by reducing the epsilon area forexample)—to avoid hitting other moving objects or friendly forcesnearby;

(d) Enable selection of moving targets by matching the barrel movementto the target movement (for example, selecting the nearest target thatmoves in the same direction of the barrel) and to avoid selecting atarget crossing that nearest target;

(e) Enable range estimation relative to other static or dynamic objectswith known range (measured/calculated or estimated);

In some embodiments, aiming system 11 includes a range finder 50 such asa laser range finder (LRF) which can be used to add information to thetarget detection/identification module 40, in particular theidentification aspect thereof providing expectation of object sizes.

Target tracker 42 of image processor 24 receives information frombackground tracking module 38 and target detection/identification module40 (or barrel motion sensor(s) 32, if present) and tracks after thelocked-on target 48 with respect to static features 46 (or barrel motionsensor(s) 32, if present).

Range estimator 44 “passively” estimates target range, i.e. withoutusing range finder 50. Methods to estimate the target range includeusing familiar or expected target size as a function of range; targetspeed; relative location, focus (using lenses' optical focus to estimatethe range etc, as noted above. Again, where aiming system 11 includesrange finder 50, the range as measured by range finder 50 can be used.

The above information, whether estimated, measured or calculated byimage processor 24 or via inputs thereto (which can be user inputs orinputs from the system's components, or other information inputs fromadditional sensors 34 and/or external information received throughcommunication from another system or external command system), is passedon to firing processor 18, •in particular: (a) detected and locked-ontarget information such as: target location, target type (e.g. usingATR), target size, target shape, target velocity, target range; (b)barrel movement; and (c) nearby friendly forces, civilians, and thelike.

With reference to FIG. 4, in some embodiments, user display 14 comprisesan aiming guide, illustrated by target location indicator or aimingarrow 52 pointing toward a preferred aim-point 53 of a locked-on target,(even if the target is outside the FOV of display 14). Preferredaim-point 53 can in essence be an epsilon area 54; detailed below. Thisaiming guide is an advantageous feature as the shooter knows how toadjust aim, i.e. so that the center of cross-hairs 55 can be moved alongthe aiming arrow 52 toward aim-point 53. Aim-point 53 may be a pointwithin the target and/or a target area determined by epsilon logicmodule 28, which will now be detailed.

As mentioned above, in preferred embodiments, firing processor 18includes epsilon logic module 28. Epsilon logic module 28 is responsiblefor calculating the target aim-point/area or epsilon area 54 (see FIGS.5 and 6) of the target 48. It is this epsilon area 54 that is used byfiring decision module 30 to make a firing decision. Prior art aimingsystems have a predefined aiming accuracy requirement (e.g. a particularMinutes of Arc/Angle; MOA), which is not automatically calculated andhas a predetermined shape (a point, circle, etc). In contrast, in someembodiments, the instant aiming system is adapted to calculate a dynamicepsilon area, and the size of the epsilon area is defined automaticallysuch as by target's range, size, firearm and environmental conditions,firearm shaking, etc; and the shape of the epsilon area is definedautomatically by the shape of the target.

The epsilon logic module 28 of the present invention is responsible forcalculating the tolerance or inaccuracy that the system will allow, inthis case, the firing or aiming tolerance. For explanation by way ofexample, firearm 10, or aiming system 11 thereof, may be locked on alocation of target 48 (pixel of the image) and imaging system 12 andfiring processor 18 will determine within what area around thatlocation/pixel the firing will be allowed or actuated. In typical cases,after locking onto a point/pixel of target 48, imaging system 12 willadjust the lock-on point/location to a desirable (preferred) location,such as the center of target 48. In this regard, as a result of allowingeither automatic or manual adjustment of the lock-on point, the aimingsystem 11 can allow locking onto a target even if the aim-point ismerely near target 48 and does not require the aim-point to be on thetarget's physical/detected shape. An example of this “lock nearby”feature is illustrated by a dashed line defining a target lockable area56 (FIG. 5) which is larger than the area of the actual target. As such,the term lock-on and its derivatives will be understood to denote on ornearby, in the specification and claims.

FIG. 5 graphically illustrates an example of epsilon tolerance (area)via an upper body portion of target 48. Upon locking on target 48, theaiming system 11, primarily imaging system 12, uses information such astarget range, etc, as noted above, to determine epsilon area 54 whichmay be a relatively large epsilon area 54 a if conditions so warrant(e.g. there is little or no wind, the user is stable and the targetrange is short). On the other hand, with less favorable conditions, arelatively small epsilon area 54 b may be calculated by epsilon logicmodule 28. In some embodiments, epsilon area 54 is predetermined orchoosable by the user, rather than calculated.

The epsilon tolerance (area) can be calculated based on factors such asthe range of the target; i.e. because the range of the target affectsthe probability of the firearm 10 being aimed to hit, the tolerancerequired (allowable area) for firing can be accordingly adjusted.Another exemplary factor is the target size, for example if the targetis large a higher tolerance (area) may be required/allowed as the chanceof the firearm being “on target” is greater. Another exemplary factor isthe target type, which may be determined by the user or preferablyentail imaging system 12 comprising a target recognition algorithm suchas an automatic target recognition (ATR) algorithm, for identifying thetarget type. In an exemplary implementation, if the target is a personor animal, the algorithm may not consider arms and/or legs of thetarget, which are prone to quick movement and thus may prove moredifficult to hit.

Another exemplary factor can be the movement of the target; i.e. ifimaging system 12 determines the target is moving, especially if movingrapidly, the processing algorithm can adjust the required tolerance forfiring and allow rapid firing to help increase the probability of a hitor decrease the probability of a miss. Another exemplary factor can bethe stability of the user; i.e. if the user moves a lot (e.g. shakes) ormoves quickly, typically based on barrel movement calculation, theepsilon tolerance (area) algorithm can adjust the required tolerance(allowed area) for firing and further, may allow multiple and rapidfiring to help increase the probability of a hit or decrease theprobability of a miss. On the other hand, if the user is stable, theprocessing algorithm can adjust the required tolerance (allowed area)for firing accordingly.

Another exemplary factor can be background movement; i.e. if there ismore than one moving item. This can be a result of civilians or friendlyforces and the epsilon tolerance can be adjusted accordingly to reducethe risk of hitting such non-targets. On the other hand, if there is nobackground movement, or it can be determined that the target is far fromfriendly forces, the processing system may allow a less stricttolerance.

In accordance with the aforementioned tolerance examples, it is aparticular feature of the present invention that the percentage of thearea (defined by an outline/contour of the target produced by imagingsystem 12 and displayed on user display 14) can be used to define thetolerance. The percentage of contour area is explainable by example,i.e. 100% means epsilon area 54 is the same size as the area of thetarget (contour area); 50% means that the epsilon logic determines thatthe epsilon area is half the size of the target for allowing firing atthe target, 150% means that the epsilon logic allows firing at an area50% larger than the target's actual area; this concept can be rewordedby using a pixel count instead of area.

In some embodiments, the aforementioned factors can be overridden andthe user can select the tolerance/accuracy to be implemented by thefirearm.

FIG. 6 graphically illustrates exemplary potential target detectionmodes of aiming system 11. One mode of detecting a potential target isby detecting contours (outlines, edges), resulting in a contour basedarea 58; another is the use of movement detection, resulting in amovement detection based area 60; and another is the use of an IRradiation threshold, resulting in a an IR radiation threshold based area62 (e.g. above a certain temperature an object will be considered apotential target). These target detection methods can be used separatelyor in combination (depending on the given design of the aiming system11, i.e. components included) for detecting a potential target. Theaforementioned detection can be used as input to epsilon (tolerance)logic module 28 and an exemplary graphical depiction of an effectivetarget area is shown based on epsilon logic, i.e. an epsilon tolerancecontour 64. The aforementioned detection is also an input to targettracker•42, which highlights potential targets for user selection(locking on). Additional exemplary target detect modes that can also beused alone or in combination include: common movement; ATR; connectedcomponents; enemy firing detection (e.g. muzzle flash, acoustic); friendor foe detection, etc. Imaging system 12 may display friendly forces(e.g. using IR flicker; via communication and a GPS, etc) or arestricted area (e.g. using a GIS) and block the firing on them.

In summary, aiming system 11 is generally designed to detect, highlightand track a target (e.g. via an electro-optical tracker), to determineif firearm 10 is aimed so that the target is expected/calculated to behit, and to enable the firing if firing decision module 30 hasdetermined that the target will be hit (or prevent/disable firing if thefiring decision module determines the target will not be hit).

Firing decision module 30 uses input from imaging system 12 (e.g. targetand barrel movement, range estimation or measurement, etc); firingcomputer 26; and epsilon logic module 28 to determine if the target isexpected to be hit and thus whether to fire (or not). As a result of anaffirmative firing decision, firing is actuated or enabled via firingactuator 20 (e.g. either by sending a signal in the case of anelectronic firearm; or allowing the trigger to fire in atrigger-actuated firearm).

Reverting to FIG. 1, according to some embodiments, the aiming system 11can be designed to include a mode adapted for firing at detected targetswithout the need to lock onto those targets—a “non-lock on mode”. Hereaiming system 11 does not require user display 14; target tracker 42; orepsilon logic module 28 as targets are selected automatically ratherthan, or in addition to, selection by the user; however, the use of theepsilon logic is typically preferable. This can be advantageous when theuser wants to fire while moving, e.g. a soldier is charging, and it isdifficult and/or inefficient to lock onto target(s). In this case,firing decision module 30 will allow firing only at “serious” or“suspicious” potential targets, for example based on movement of thetarget or temperature indicated by an IR sensor, ATR, muzzle flash orthe like; however, not based on static edge detection. In addition towhen a user is moving, this mode can also be advantageous in cases wherean enemy fires from a window or behind a barrier and then hides. In this“non-lock on mode”, the epsilon tolerance algorithm may be affected toincrease the allowed target area as it is commonly useful to fire evenif merely near the target. This mode does not prevent firing at lockedon targets (locked on prior to or during this “non-lock on mode”),whether the locked on target was chosen by the user or remotely chosen.

Some embodiments of the invention include an enemy-suppressing fire mode(“suppress-fire” or “covering fire” mode)—firing to prevent/limit theenemy from firing/or moving, or to make them move and reveal themselves.This is a modified “non-lock mode” that allows firing everypredetermined time period (typically hundreds of milli-seconds) if thetrigger is pressed, even if no target or movement was identified. Thetime counting restarts if a shot was fired toward a real target, whetherat a target locked on prior to invoking this mode or not. Thisembodiment enables use of detected targets without forfeiting thecapability of producing suppressing fire.

FIG. 7 shows an alternate implementation of the present aiming system,as modified aiming system 11 a, for use in a monocular or binoculars 10a having a range finding capability, such as via a LRF. In contrast toaiming system 11, system 11 a passes information from imaging system 12to a lasering processor 18 a comprising epsilon logic module 28 and alasering decision module 30 a. Lasering processor 18 a determines if thelaser beam emitted by binoculars' LRF would impinge a desired target andso return an accurate range measurement, in which case a lasering signal20 a is allowed. This implementation is particularly convenient for ascout who wants to pass on target location information to a remotelocation, for example to communicate firing coordinates. For thispurpose, additional components such as a communication system 70; GPS72; compass 74; and inclinometer 76 can be included, which help measurethe target location and communicate that information to another site.

In some embodiments, aiming system 11 is adapted to recognizing theactual hit location and hit time, for example by ricochet, dust ormovement at a specific expected time and location. With recognition ofhit location, an automatic calibration can be preformed based oncomparison of expected versus actual hit location.

In some embodiments, aiming system 11 is adapted to recognize shootingof firearm 10, for example by light burst, specific noise and noiselevel, specific movement patterns of the firearm (fire shock), etc. Insome embodiments, aiming system 11 is adapted to count shots/rounds. Insome embodiments, image sensor 22 includes “blink sensors” at the timeof shooting, i.e. wherein tracker 42 ignores video frames of imagesensor 22, which could interrupt proper viewing of the field due tomuzzle flash and abrupt movement of firearm. Thus, the activity oftracker 42 can be stopped for few milli-seconds and resumed after thefiring.

In some embodiments, aiming system 11 is adapted to recognize detect alaser marker (red dot), which may be an encoded laser, visible or not,from the firearm or a remote laser marker. The laser marker is displayedon user display 14 (for communication purposes between users or betweenthe user and a remote person); and can automatically lock on thedetected laser marker.

In some embodiments, aiming system 11 is adapted to record a video,collect data and statistics; and allow play back of the video recording.

In some embodiments, aiming system 11 is adapted to receive remotelydetected locked-on targets (using the video of the image sensor 22),wherein a remote operator/user can select/lock on a target, then theshooter/user can shoot toward the remotely locked-on targets. Thisrequires a communication means between the remote operator and aimingsystem 11].

In some embodiments, aiming system 11 is adapted to receiveexternal/remote commands (again requiring a communication means), forexample to stop firing. Such commands can preferably be overridden toallow shooting anyway if the need arises. This adaptation can be usefulin an ambush, when firing is preferably synchronized.

In some embodiments, aiming system 11 is adapted to synchronize shootingon targets with other users. Such firing synchronization can beadvantageous between users, such as snipers in a hostage scenario. Forexample, only when all of the snipers are aiming toward the locked ontargets in a way that firing decision module 30 of firing processor 18determines that all the snipers will hit their targets, will a fireauthorization command be given, to all the snipers.

In some embodiments, firearm 10 with aiming system 11 can be adapted fortraining purposes, shooting blanks, or nothing at all, while aimingsystem 11 calculates the hits/misses Imaging system 12 may record thewhole session or the “hit” moment image only. In another trainingexample, aiming system 11 includes augmented reality targets (built-intrainer) and generates graphics (such as a running soldier) on userdisplay 14. The computer generated target may be dynamic and it maydetermine the user's relative location, user actions—such as firing atthe target; and it may simulate firing back at the trainee or gettinghit. Aiming system 11 may calculate the hit/miss during training in thesame way as it calculates for firing real rounds. This “training” modecan also be used to simulate real time firing before a firing command isactually given, letting the system calculate and snipers (users) beinformed how many of the targets can actually be fired upon (hit)simultaneously, The training mode can also provide statistics of time tohit the target, success ratio estimation and so on, and all of which canbe calculated and displayed to the users and potentially others such ascommanders.

In some embodiments, aiming system 11 is adapted to use rangemeasurement or estimation to: (a) Allow manual firing without anyrestrictions or allow firing toward short-range targets even if anothertarget is locked-on (as a close target is usually more threatening thana remote target); (b) Block fire/alert regarding firing toward a targetbeyond effective range of the firearm; (c) Alert that charging towardthe targets will be inefficient (as the target is long range, which isoften wrongly estimated by soldiers, especially at night).

In some embodiments, aiming system 11 comprises multi- or hyper-spectralsensors. These sensors enable detection and/or identification and/orclassification of specific targets (or friendly forces) for example:specific uniforms (e.g. by fabric). This feature can be used in logicfor “reacquiring” the same target (having the same multi/hyper-spectralsignature) after the target had been marked but had then left thesystem's FOV or went behind a cover and afterward reentered the FOV orcame out from behind the cover etc.

Target selection by movement pattern: In some embodiments, aiming system11 is adapted to allow target selection (lock-on) in accordance withmovement pattern. It can be difficult to lock on to a moving target,especially if the user himself is moving. This embodiment enables asituation where by having a similar barrel movement pattern to thetarget movement (though the movement can be somewhat displaced, thetarget will be selectable (locked on). For example, a target moving tothe right “tracked” by a general barrel movement in a similar rightwarddirection will enable selection of the target rather than a statictarget or target moving in a different direction. A similar mechanismmay serve for deciding to shoot or not at the target with a similarmovement pattern, even without locking on the target (such as in a“charge mode”, where the user(s)/soldier(s) are charging towardtarget(s). For example, avoiding shooting at objects (such as humans)that are going in the other direction as the target, again, even if thetarget was not locked on, rather “selected” by the common patternmovement.

Second Bullet Mode: In some embodiments, aiming system 11 is adapted tostart operating only after a first bullet is (or a number of bulletsare) fired manually. The manual shooting provides the user's intentionto the system and it may automatically (or with pressing a button) lockon the nearest plausible target (to the first shooting aim-point) thatwill enable a better chance to hit it.

Deliberate-calculated-bullet-spread: FIG. 8 helps illustrate anembodiment wherein aiming system 11 is adapted to cause deliberatefiring in a calculated spread (by moving the reticle in differentdirections about the target 48). By way of example, a first shot isfired toward target 48 and then there is a bullet spread, namely, afirst bullet of the bullet spread fired below the target; followed by a^(2nd) bullet of the bullet spread fired to the right of the target;followed by a ^(3rd) bullet of the bullet spread fired to the left ofthe target; followed by a ^(4th) bullet of the bullet spread fired abovethe target. The bullet spread is performed to improve the chance ofhitting the target (although it increases the chance of missing thetarget as well). This embodiment/method can be very effective in casesof ballistic issues caused by wind calculation errors, range errors,calibration errors etc., and is particularly appropriate when hittingthe target is more important than missing the target. The calculatedspread can be better than a “random” spread by manual shooting. Theorder of the bullet spread can be “opportunistic”, in other words if theuser is aiming that way anyhow.

Virtual Laser Marker and Target Transference: In some embodiments,aiming system 11 is adapted to incorporate and/or use a communicationdevice (optionally a C4I system) to transfer FOV of each soldier and/ortargets and create a “virtual laser marker” (which is passive). Thepassive virtual laser marker is similar to the regular laser marker,however it can be used for display only or for adding target locks (i.e.automatically lock on that virtual marker). This option enables easytarget distribution and excellent common language aid (mutualvirtual-pointing devices). The passive virtual laser marker can also beused for accepting multiple target locks from an external system withoutthe need to reveal the locations of the users/soldiers (as markings withactive laser markers do).

Training safety mode/feature: In some embodiments, aiming system 11 isadapted to include a training safety mode or feature to improve(practice range) training safety. Here, the system enables firing onlytoward a target area, for example as defined by an angle from the north(e.g. using a digital compass) or by recognizing range borders such asflags/visual marks in—and not allowing firing at humans. This is likehaving one large epsilon area, over the entire training area. A GPS canactuate this mode automatically.

Elaborate epsilon logic: According to some embodiments, in one mode ofaiming system 11 there are one or more “sets of epsilons”. By way ofexample, there can be a particular “set of epsilons” for charging (e.g.soldiers charging at an enemy position); another set of epsilons forsharp shooting (sniper fire); another set of epsilons for cover fire;another set of epsilons for a return fire mode (e.g. the epsilon maychange once being the system detects it has been “fired upon”, forexample to allow the user to return fire as soon as possible. A furtherexample of such Elaborate epsilon logic is where the logic requires thefirst few bullets to be with high accuracy (small epsilon area 54) andlater allows less accurate firing (larger epsilon area).

It should be understood that the present invention can be implementedwith both standard and guided rounds.

Another feature of the present invention is directed at an aiming devicefor a firearm (or for that matter any aimable device, such as a cameraor such as binoculars 10 a of FIG. 7) equipped with image processor 24of FIG. 2 and an LRF as range finder 50.

In the case of a conventional aimable device, the LRF, as a stand-alonedevice or as an integral component of the aimable device, measures therange along the line-of-sight of the aimable device. Because a firearmwith an integral LRF, or a stand-alone LRF, usually is a hand-helddevice, and the user generally is a bit shaky when s/he points thedevice at the target, the measured range may be the range to backgroundor the range to a different target rather than the range to the desiredtarget. This problem is exacerbated if the target is moving. The LRF mayprovide a completely wrong range or may provide multiple ranges.

That target tracker 42 tracks a locked-on target enables a range finder50 such as a LRF to be aimed at the target, rather than along theline-of-sight (LOS) of the aimable device, preferably by target tracker42 itself as target tracker 42 tracks the target. FIG. 9 illustrates thegeneral concept. A two-dimensional tilting mirror is used by targettracker 42 to aim the pulsed laser beam from LRF 50 at a target that isoff the firearm LOS. (The angular deviation of the LOS from the targetis exaggerated in FIG. 9 for illustrative purposes; usually, the angulardeviation of the LOS from the target is much less than illustrated inFIG. 9.) Because of computational delays in target tracker 42,subsequent to target acquisition the actual aim point of LRF 50 istowards a predicted location of the target relative to the firearm LOS,based on the tracking history of the target and using e.g. a Kalmanfilter, as is known in the art.

FIGS. 10A-10C illustrate three different embodiments of a range finder50 that is aimed by target tracker 42. In the embodiment of FIG. 1 OA,the laser beam from the laser source of range finder 50 is reflected bythe mirror towards the target. The receiver of range finder 50 is fixedrelative to the firearm and has a relatively wide field of view forreceiving the laser light that is reflected by the target. In theembodiment of FIG. 10B the receiver of LRF 50 also is fixed but has anarrower field of view than the receiver of FIG. 1 OA; the mirror ismade correspondingly wider in order to reflect to the receiver thenarrow beam (laser) light that is reflected by the target. In theembodiment of FIG. 10C, instead of using a mirror to aim the narrow beamof range finder 50 at the target, both the laser source and the receiverare mounted on a gimbal that tilts in two dimensions and are aimed bytarget tracker 42 at the (predicted) angular position of the target.

In one set of embodiments, as illustrated in FIG. 11A, target tracker 42aims range finder 50 at a designated point on the target, for example atthe center of the target. Preferably, the value that actually is used asthe measured range to the target is an average of several measurementsby range finder 50. In another set of embodiments, target tracker 42scans the target and the target's immediate surroundings with rangefinder 50, either in one dimension (along a line that intersects thetarget), as illustrated in FIG. 11B, or in two dimensions, asillustrated in FIG. 11C. The linear scan of FIG. 11B providesmeasurements of ranges to both the target and the background and helpsto define the boundaries of the target. The areal scan shown in FIG. 11Ccreates a digital “depth map” of the target and of the target'ssurroundings, and enables segregation of the target from the background.

Returning to FIG. 7, coupling target tracker 42 (FIG. 2) of imageprocessor 24 to the range finder of monocular/binoculars 10 a asdescribed above provides a system that, via communication system 70,transmits the geographical coordinates of a continuously tracked targetto a remote location, for example in the context of a C⁴I (Command,Control, Communications, Computers and Information) system. Additionallyor alternatively, the laser beam from the range finder may be used todesignate the target for attack by a separate weapon system such as amissile equipped with a seeker head.

In an alternative embodiment, the range to the target is found by usingstructured light to illuminate the scene that includes the target.Imaging system 12 acquires an image of the illuminated scene and imageprocessor 24 uses known methods to calculate the depth (i.e. the range)of pixels in the imaged scene.

It should be understood that the above description is merely exemplaryand that there are various embodiments of the present invention that maybe devised, mutatis mutandis, and that the features described in theabove-described embodiments, and those not described herein, may be usedseparately or in any suitable combination; and the invention can bedevised in accordance with embodiments not necessarily described above.

What is claimed is:
 1. A method of acquiring a target, comprising thesteps of: (a) aiming a non-gimbaled hand-held aimable device thatincludes: (i) a user display, (ii) a tracker, and (iii) a range finder,so that an indicator, in said user display, that indicates a directionin which said device is pointing, is sufficiently close to the target;(b) locking said tracker on the target; (c) using said tracker to aimsaid range finder at the target, even when said indicator, in said userdisplay, is not directed at said target; and (d) measuring a range tothe target, using said range finder, even when said indicator, in saiduser display, is not directed at said target, obviating the need to aimsaid aimable device a second time in order to measure said range.
 2. Themethod of claim 1, further comprising the steps of: (d) computinggeographic coordinates of the target based on said measured range; and(e) transmitting said geographic coordinates to a remote location. 3.The method of claim 1, wherein said tracker is operative to scan thetarget, thereby measuring both said range to the target and a lane it abackground of the target.
 4. The method of claim 3 rein said scan is aone-dimensional scan.
 5. The method of claim 3, wherein said scan is atwo-dimensional scan.
 6. The method of claim 1, wherein said step oflocking on the target is performed automatically.
 7. The method of claim1, wherein said step of locking on the target is performed manually 8.The method of claim 1, further comprising the step highlighting thetarget on said user display.
 9. The method of claim 1, wherein aimingsaid range finder includes reflecting a laser beam from said rangertinder by a mirror towards the target.
 10. The method of claim 9,further including the step of receiving said laser light that isreflected by the target on a receiver that is fixed relative to theaimable device.
 11. The method of claim 9, further including the step ofreflecting off said mirror, said laser light that is reflected back bythe target, onto a receiver that is fixed relative to the aimabledevice,
 12. The method of claim 1, wherein aiming said range finderincludes tilting said range finder on a gimbal.